Automated storage and retrieval system

ABSTRACT

An autonomous transport vehicle including a frame forming a payload area, telescoping arms movably mounted to the frame, each telescoping arm being configured for extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area, and traversal, relative to the frame, in at least one direction that is angled to the extension axis, and at least one tab extending from each telescoping arm where the at least one tab extends in a direction transverse to the direction of extension and retraction, and the at least one tab on one of the telescoping arms opposes the at least one tab on another of the telescoping arms.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of a divisional of U.S. applicationSer. No. 17/152,358, filed on Jan. 19, 2021, which is a divisional ofU.S. application Ser. No. 14/486,008, filed Sep. 15, 2014, (now U.S.Pat. No. 10,894,663), which is a non-provisional of and claims thebenefit of U.S. provisional patent application No. 61/877,614, filed onSep. 13, 2013, the disclosures of which are incorporated herein byreference in their entireties.

BACKGROUND 1. Field

The exemplary embodiments generally relate to material handling systemsand, more particularly, to transport and storage of items within thematerial handling systems.

2. Brief Description of Related Developments

Generally the storage of items within, for example, a warehouse requiresa large building or storage structure space with an associatedfootprint. Automated vehicles or robots may be used in these warehousesto place items in storage and remove items from storage.

It would be advantageous to have an automated vehicle that canefficiently pick items for removal from the storage structure. It wouldalso be advantageous to have an automated vehicle that can accessmultiple storage levels so that a storage density of the storagestructure may be increased.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing aspects and other features of the disclosed embodimentsare explained in the following description, taken in connection with theaccompanying drawings, wherein:

FIG. 1 is a schematic illustration of an automated storage and retrievalsystem in accordance with aspects of the disclosed embodiment;

FIGS. 2A-2E are schematic illustrations of a portion of the automatedstorage and retrieval system of FIG. 1 in accordance with aspects of thedisclosed embodiment;

FIGS. 3A-3C are schematic illustrations of portions of an autonomoustransport vehicle in accordance with aspects of the disclosedembodiment;

FIG. 4 is a schematic illustration of a portion of an autonomoustransport vehicle in accordance with aspects of the disclosedembodiment;

FIGS. 5A-5C are schematic illustrations of portions of an autonomoustransport vehicle in accordance with aspects of the disclosedembodiment;

FIG. 5D is a flow chart of a pickface transfer operation in accordancewith aspects of the disclosed embodiment;

FIG. 6 is a schematic illustration of an autonomous transport vehicle inaccordance with aspects of the disclosed embodiment;

FIGS. 7A-7C are schematic illustrations of a portion of the automatedstorage and retrieval system of FIG. 1 in accordance with aspects of thedisclosed embodiment;

FIG. 8 is a schematic illustration of an autonomous transport vehicle inaccordance with aspects of the disclosed embodiment;

FIGS. 9-11, 11A, 12A, 12B, 13, 13A, 13B, 14A and 14B are schematicillustrations of portions of an autonomous transport vehicle inaccordance with aspects of the disclosed embodiment;

FIGS. 15 and 16 are flow charts of a pickface transfer operation inaccordance with aspects of the disclosed embodiment; and

FIGS. 17 and 18 are flow charts of a pickface building operation inaccordance with aspects of the disclosed embodiment.

DETAILED DESCRIPTION

FIG. 1 schematically illustrates a storage and retrieval system inaccordance with an aspect of the disclosed embodiment. Although theaspects of the disclosed embodiment will be described with reference tothe drawings, it should be understood that the aspects of the disclosedembodiment can be embodied in many alternate forms. In addition, anysuitable size, shape or type of elements or materials could be used.

In accordance with aspects of the disclosed embodiment the storage andretrieval system 100 operates in, for example, a retail distributioncenter or warehouse to, for example, fulfill orders received from retailstores for case units such as those described in U.S. patent applicationSer. No. 13/326,674 filed on Dec. 15, 2011 and PCT patent applicationPCT/US10/30669 filed on Apr. 12, 2010 entitled “Storage and RetrievalSystem” (WO Pub. 2010/118412), the disclosures of which are incorporatedby reference herein in their entireties.

The storage and retrieval system 100 may include in-feed and out-feedtransfer stations 170, 160, input and output vertical lifts 150A, 150B(generally referred to as lifts 150), a storage structure 130, and anumber of autonomous rovers or autonomous transport vehicle 110 (whichmay also be referred to as bots). The storage structure 130 include, forexample, multiple levels of storage rack modules where each levelincludes respective storage or picking aisles 130A, and transfer decks130B for transferring case units between any of the storage areas of thestorage structure 130 and any shelf of the lifts 150. The storage aisles130A, and transfer decks 130B are also configured to allow the rovers110 to traverse the storage aisles 130A and transfer decks 130B forplacing case units into picking stock and to retrieve ordered caseunits.

The rovers 110 are any suitable autonomous vehicles capable of, forexample, carrying and transferring case units throughout the storage andretrieval system 100. The rovers 110 are configured to place case units,such as the above described retail merchandise, into picking stock inthe one or more levels of the storage structure 130 and then selectivelyretrieve ordered case units for shipping the ordered case units to, forexample, a store or other suitable location.

The rovers 110 and other suitable features of the storage and retrievalsystem 100 are controlled by, for example, one or more central systemcontrol computers (e.g. control server) 120 through, for example, anysuitable network 180. In one aspect, the network 180 is a wired network,a wireless network or a combination of a wireless and wired networkusing any suitable type and/or number of communication protocols. In oneaspect, the control server 120 includes a collection of substantiallyconcurrently running programs that are configured to manage the storageand retrieval system 100 including, for exemplary purposes only,controlling, scheduling, and monitoring the activities of all activesystem components, managing inventory and pickfaces, and interfacingwith the warehouse management system 2500.

Referring now to FIG. 2 the rover 110 includes a frame 110F having afirst end 110E1 and a second end 110E2 longitudinally spaced from thefirst end 110E1. The frame 110F forms a payload bed 200 configured tosupport a pickface 210 within the payload bed 200 in any suitablemanner. In one aspect laterally arranged rollers (not shown) support thepickface and allow the pickface 210 to move in the longitudinaldirection within the payload bed, while in other aspects, the payloadbed has any suitable support surface(s) for supporting the pickface 210within the payload bed such as those described herein. In still otheraspects the end effector 200E supports the pickface 210 within thepayload bed 200. The rover 110 includes any suitable controller 110C(FIG. 1 ) that is connected to one or more drive sections of the rover110 for controlling movement of the rover 110 through the storage andretrieval system, the end effector 200E and any other suitable movablecomponents of the rover. It is noted that a “pickface” as used hereinis, for example, one or more merchandise case units placed one behindthe other, side by side, or a combination thereof. Suitable examples ofrovers 110 that may incorporate aspects of the disclosed embodiment arethose described in U.S. Pat. No. 8,425,173; and U.S. patent applicationSer. No. 14/215,310 filed on Mar. 17, 2014 entitled “Automated Storageand Retrieval System”; Ser. No. 13/236,423 filed on Dec. 12, 2011 (PGPub. No. 2012/0189409); Ser. No. 13/327,040 filed on Dec. 15, 2011 (PGPub. No. 2012/0197431); Ser. No. 13/326,952 filed on Dec. 15, 2011 (PGPub. No. 2012/0189416); Ser. No. 13/326,993 filed on Dec. 15, 2011 (PGPub. No. 2012/0185082); Ser. No. 13/326,447 filed on Dec. 15, 2011 (PGPub. No. 2012/0185122); Ser. No. 13/326,505 filed Dec. 15, 2011 (PG Pub.No. 2012/0195724) the disclosures of which are incorporated by referenceherein in their entireties.

Still referring to FIGS. 2A, 2B and also to FIG. 3A, the rover 110includes any suitable end effector 200E movably connected to the frame110F for transferring the pickface 210 to and from the payload bed 200.In one aspect the end effector includes telescopic arms 220A, 220B thatare configured to straddle opposing sides of pickfaces 210 and handlethe pickfaces 210 by lifting and supporting each pickface by, forexample, its base (e.g. from underneath) with any suitable number offingers or pickface support members 250. As will be described below, inone aspect the fingers 250 are static (e.g. fixed) relative to theirrespective arms 220A, 220B while in other aspects (as will be describedbelow), the fingers 250 are actuated (e.g. movable) relative to theirrespective arms 220A, 220B. Each arm has any suitable number oftelescoping members to provide any suitable extension or reach of theend effector 200E into a storage space of the storage shelves. Forexample, at least telescoping member 300 is slidably coupled to anothertelescoping member 301 along an axis of extension 299 of the endeffector for telescopic extension and retraction of each arm 220A, 220Bof the end effector. Each arm is suitably mounted to the frame 110F inany suitable manner. For example, in one aspect any suitable number ofguides 310, such as rails or tracks, are mounted to the frame 110F inany suitable manner. The rails are mounted to or adjacent to eachlongitudinal side of the payload bed 200 so that each guide 310 extendslaterally relative to the frame 110F. One or more telescoping members300, 301 are slidably mounted to the guide 310 so that the one or moretelescoping members 300, 301 extends laterally in the direction of arrow299 for transferring pickfaces 210 to and from the payload bed 200. Itis noted that while the end effector 200E is illustrated as extendedonly from one lateral side of the rover 110 in other aspects the endeffector 200E is configured to extend from either lateral side 110S1,110S2 (FIG. 6) of the rover. In one aspect a first telescoping member300 is slidably mounted to the guide 310 in any suitable manner such as,for example, with guide rollers or sliders that engage suitable trackson the guide 310. The first telescoping member 300 of the arms 220A,220B includes a guide 311 for movably mounting a second telescopingmember 301 to the first telescoping member 300 in a manner substantiallysimilar to that described above with respect to guide 310. Although twotelescoping members are illustrated in the figures it should beunderstood that in other aspects any suitable number of telescopingmembers are, for example, serially mounted to each other for extensionand retraction in a manner substantially similar to that describedabove. As may be realized the distal most serially mounted telescopingmember of each arm 220A, 220B (e.g. when extended each arm 220A, 220Bhas a proximate end closest to the frame 110F and a distal end furthestfrom the frame 110F), which in this case is the second telescopingmember 301, includes the fingers 250, while in other aspects anysuitable telescoping member of the arm includes fingers 250.

Each of the telescoping members 300, 301 has any suitable cross sectionso that at least one of the telescoping members 300, 301 is capable ofextending in the space SP (FIG. 2C) between adjacent pickfaces 210arranged on a storage shelf 240. In one aspect a height H of eachtelescoping member 300, 301 may be substantially larger than a width Wof the telescoping member to stiffen the arm 220A, 220B (e.g. tominimize sagging of the arms when extended and to allow greater payloadcapacity of the arms) which, for example, also facilitates deep storage(e.g. where one or more merchandise case units placed one behind theother). Dual-sided picking is also possible, since the arms 220A, 220Bare located at the front 200F and rear 200R of the payload bed 200 (itis noted that front and rear are used here for exemplary purposes onlyand that in other aspects any suitable spatial identifiers may be usedto reference the longitudinal sides of the payload bed 200) so as tostraddle opposing sides of the pickfaces.

Referring now to FIG. 3A the distal most telescoping member of each arm220A, 220B, which in this aspect is the second telescoping member 301,includes surface 301S such that the fingers 250 extend from the surface301S towards a centerline CL of the payload bed 200. As may be realized,the fingers 250 of each arm oppose one another for extending underneatha pickface. As may also be realized, the fingers 250 have any suitablelength L such that at least one of the telescoping members 300, 301 andthe fingers 250 are able to be extended in the space SP (FIG. 2C)between pickfaces 210. In this aspect the fingers 250 are fixed relativeto the distal most telescoping member (e.g. the fingers are incapable ofmovement relative to the second telescoping member). However, in otheraspects, as can be seen in FIGS. 3B and 3C the fingers 250′, 250″ are,for example, movable relative to the distal most telescoping member301′. For example, in one aspect fingers 250′ are rotatably mounted tothe distal most telescoping member 301′ such that they are movablebetween retracted and extended positions. In the retracted position thefingers 250′ are, for example, substantially parallel with the surface310S while in the extended position the fingers 250′ are, for example,substantially perpendicular to (or arranged at any other suitable anglerelative to) the surface 301S for extending underneath one or morepickfaces 210. In this aspect the fingers 250′ are each be rotatableabout a respective axis of rotation 363 that extends substantiallyperpendicular to a direction of extension and retraction 299 (FIG. 2A)of the end effector 200E. In another aspect, the fingers 250″ are, forexample, rotatable about an axis of rotation 364 that is substantiallyparallel with the direction of extension and retraction 299 of the endeffector 200E. For example, as can be seen in FIG. 3B the fingers 250″are movable between retracted and extended positions. In the retractedposition the fingers 250″ are folded into or adjacent the surface 301Sso as to be substantially parallel with the surface 301S. In theextended position the fingers 250″ are unfolded so as to besubstantially perpendicular to the surface 301S for extending underneathone or more pickfaces 210. In still other aspects the fingers aremovable relative to the distal most telescoping member in any suitablemanner so as to move between a retracted and extended position.

Referring now to FIGS. 2C and 2D, the opposing arrangement of thefingers 250 is, for example, such that when the arms 220A, 220B areextended into the storage shelf 140 the fingers are located betweensupport surfaces 140S of the storage shelf 140. For example, in oneaspect the storage shelf 140 includes spaced apart support surfaces 140Sthat extend in a direction 297 (FIG. 2A) that is substantiallyperpendicular to (e.g. transverse) the direction of extension andretraction 299 of the end effector 200E. For example, a pitch P1 (FIG.2A) between support surfaces 140S is, for example, substantially similarto a pitch P2 (FIG. 3A) between the fingers 250 so that when insertedinto the storage shelf 140 the fingers 250 are interleaved with theshelf structure (e.g. the support surfaces 140S) in a directiontransverse to the extension axis 299 of the end effector 200E, while inother aspects the spacing between the fingers is any suitable spacingthat allows the fingers to pass through the openings between the supportsurfaces.

Referring again to FIG. 2A the rover 110 has a drive section 260 thatincludes any suitable number of drives. For example, the drive section260 includes one or more end effector drives 260A, 260B, 260C configuredto move the end effector in extension/retraction along axis 299, moveone or more of the arms 220A, 220B so that the arms are moved togetherand apart in the direction of arrow 297 towards and away from thepayload bed centerline CL (see also FIG. 5A), move the arms so that thearms 220A, 220B are moved together as a unit in the direction of arrow297 relative to the payload bed centerline CL (e.g. for a justificationof pickfaces 210 relative to the payload bed 200 and/or a storage area)and lift/lower the arms in a direction 298 substantially perpendicularto the axis of extension and retraction (e.g. direction) 299 of the endeffector 200E. In one aspect, traversal of each transfer arm 220A, 220Bis in a plane substantially parallel with a pickface support plane ofthe payload bed/area to effect a full payload area justification (e.g. ajustification of the payload anywhere in within the payload bed andanywhere within a storage shelf area that is accessible by the arms220A, 220B) of the at least one pickface independent of a size of the atleast one pickface. Referring also to FIG. 4 , in one aspect an endeffector extension/retraction drive 260A (e.g. that moves the arms 220A,220B in the direction of arrow 299) includes any suitable belttransmission 400 for extending and retracting each arm 220A, 220B of therover 110. Each telescoping member 300, 301 (see also FIG. 3A) includesany suitable belt and pulley arrangement 400P1, 400P2, 400P3, 400B1,400B2 configured to extend a respective telescoping member 300, 301 inseries (e.g. one of telescoping members 300, 301 extends a predetermineddistance/reach in a first stage of extension and then the other one ofthe telescoping members extends a predetermined distance/reach in asecond stage of extension so that the telescoping members 300, 301 movetogether as a unit in the first stage of extension and only one of thetelescoping members 300, 301 moves in the second stage of extension). Inother aspects the belt and pulley arrangement 400P1, 400P2, 400P3,400B1, 400B2 are, for example, configured to extend their respectivetelescoping members 300, 301 substantially simultaneously (e.g. astelescoping member 300 extends a predetermined distance/reach thetelescoping member 301 also extends a corresponding predetermineddistance/reach so that telescoping member 300 moves relative to thepayload bed 200 and the telescoping member 301 moves relative to boththe telescoping member 300 and the payload bed 200). As may be realizedretraction of the arms 220A, 220B occurs in a substantially reversemanner to that described above. In other aspects any suitable drivelinkage is used to extend and retract the arms 220A, 220B such as, forexample, a ball and screw arrangement, chains, hydraulic or pneumaticactuators, electric actuators, magnetic drives, etc. Similarly, an armgripping drive 260B (e.g. that moves one or more of the arms in thedirection of 297) and an end effector lift drive 260C (e.g. that movesthe arms 220A, 220B in the direction of arrow 298) have any suitableconfiguration and include any suitable transmissions for driving thearms such as those transmissions described above. As may be realized, inone aspect the arm gripping drive 260B includes one or more drives260B1, 260B2 for moving one or more of the arms 220A, 220B as describedherein. In one aspect the gripping drive 260B includes a single drivemotor 260B1 coupled to one or both of the arms 220A, 220B so as to moveone arm 220A, 220B relative to the other arm 220A, 220B (e.g. one of thearms 220A, 220B is stationary while the other arm 220A, 220B moves orboth arms move so that the movement of one arm is coupled to movement ofthe other arm so as to be driven towards and away from each other by acommon drive motor in a manner similar to that described below). Inother aspects, the gripping drive 260B includes at least two drives260B1, 260B2 where each arm 220A, 220B is driven by a respective drivemotor 260B1, 260B1 so as to move independently of the other arm 220A,220B. As may be realized, the independent movement of each arm allowsnot only for the gripping of pickfaces 210 but also for the movement ofthe pickface 210 in the direction of arrow 297 to effect justificationof the pickface 210 in the direction of arrow 297 relative to, forexample, a storage space or other pickface holding location. In stillother aspects the arms 220A, 220B are movable in the direction of arrow297 in any suitable manner by any suitable number of drive motors.

As noted above, the storage shelves 140 are, for example, configured toallow the fingers 250 of the arms 220A, 220B to pass through the shelves140 so that the fingers 250 are positioned bellow the support surfaces140S of the shelves 140. In one aspect the storage shelf 140 is a wireshelf such that the support surfaces 140S are formed by the wires of theshelf. The wire shelves 140 have any suitable configuration such as awire mesh configuration where the upper members of the wire shelves formthe support surfaces 140S and are oriented and aligned with a direction297 substantially transverse to a direction 299 in which the pickfacesare transferred to and from the shelves 140. The wire shelves 140 aresecured to the storage rack structure (e.g. such as horizontal supports282) and/or the picking aisle deck/rails in any suitable manner. In oneaspect the wire shelves 140 wrap around the storage rack structureand/or the picking aisle deck/rails so that the wire shelves 140 areremovably fixed to the storage rack structure and/or the picking aisledeck/rails substantially without fasteners or other fixing methods (e.g.adhesives, welding, etc.). In other aspects the wire shelves 140 areremovably fixed to the storage rack structure and/or the picking aisledeck/rails with any removable fasteners. In other aspects the shelves140 may not be removable.

In other aspects the storage shelf 140′ is substantially similar to thatdescribed in U.S. patent application Ser. No. 12/757,381 filed on Apr.9, 2010 the disclosure of which is incorporated herein by reference inits entirety. For example, referring to FIG. 2E each storage shelf 140′includes one or more support legs 280L1, 280L2 extending from, forexample, horizontal supports 282 of the storage shelf 140′. The supportlegs 280L1, 820L2 have any suitable configuration and may be part of,for example, a substantially U-shaped channel 280 such that the legs areconnected to each other through channel portion 280B. The channelportion 280B provides an attachment point between the channel 280 andone or more horizontal supports 282. In other aspects, each support leg280L1, 280L2 is configured to individually mount to the horizontalsupports 282. In this aspect, each support leg 280L1, 280L2 includes abent portion 280H1, 280H2 having a suitable support surface 140S areaconfigured to support pickfaces stored on the shelf 140′. The bentportions 280H1, 280H2 is, for example, configured to substantiallyprevent deformation of the pickfaces stored on the shelf. In otheraspects the leg portions 280H1, 280H2 have a suitable thickness or haveany other suitable shape and/or configuration for supporting case unitsstored on the shelves. As can be seen in FIG. 2E, the support legs280L1, 280L2 or channels 280 may form a slatted or corrugated shelfstructure where spaces SP2 between, for example, the support legs 280L1,280L2 allow for fingers 250 of the end effector 200E to reach into theshelving for transferring pickfaces to and from the shelf as will bedescribed below.

As may be realized the storage shelves described herein, are in oneaspect, substantially flat allowing for an increased storage density ofthe storage and retrieval system 100 while reducing structural costs ofthe storage and retrieval system 100.

As described above, the storage shelves 140A, 140B, 140C (substantiallysimilar to storage shelves 140, 140′) may be stacked one above the otheras shown in FIGS. 7A-7C so that multiple storage shelves are accessiblefrom a single picking aisle deck 130AD. Here there are two storageshelves 140A, 140B stacked one above the other and accessible from asingle picking aisle deck 130AD. In other aspects there are more thantwo stacked storage shelves that are accessible from a single pickingaisle deck 130AD. In one aspect the end effector lift drive 260C isconfigured to provide travel of the end effector between multiplestorage levels of the storage and retrieval system. For example,referring to FIGS. 7A, 7C and 7C the storage shelves 140 allow for areduction in the number of picking aisles 130A (FIG. 1 ) which willallow for a reduced transfer deck 130B (FIG. 1 ) size, and a reduceddeck (e.g. both the transfer deck 130B and the picking aisle deck 130AD)by providing multi-level storage per picking aisle deck 130AD. Theconfiguration of the shelves 140 also allows for an increase inhorizontal and vertical case density while positioning/registering thecase units or pickfaces with the arms 220A, 220B may allow for movingthe pickfaces closer together (e.g. reducing pickface spacing asdescribed above). As noted above, the spacing between the case units orpickfaces allows space for the arms 220A, 220B to be inserted betweenadjacent case units or pickfaces to transfer the case unit(s) orpickface to and from the storage shelf 140.

Still referring to FIGS. 7A-7C, and as noted above, the rover 110A maybe configured to access stacked storage shelves 140A, 140B from a singlepicking aisle deck 130AD. For exemplary purposes only, in this aspecteach picking aisle deck 130AD provides access to two levels of storage140A, 140B but in other aspects each picking aisle may provide access tomore than two levels of storage. It is noted that the level of storageaccessed by each picking aisle may vary from one picking aisle deck toanother picking aisle deck (e.g. one deck may provide access to a firstnumber of storage levels while another deck may provide access to asecond number storage levels where the second number is different thanthe first number). As noted above, the rover 110 may include endeffector lift drive 260C (FIG. 2A) that lifts or lower the arms 220A,220B to a predetermined height corresponding to a storage level from orto which a case unit or pickface is to be picked or placed in a mannersubstantially similar to that described herein. The end effector liftdrive 260C is any suitable drive section configured to raise and lowerthe arms 220A, 220B such as, for example, a linear actuator, a screwdrive, scissor lift 777 (FIG. 7A), a magnetic drive, etc.

Referring now to FIGS. 2B, 2D and 5A-5D a pickface 210 picking operationwill be described. The rover 110 receives a command from, for example,any suitable controller such as control server 120 (FIG. 1 ) to transfera pickface. The rover travels along the transfer deck 130B to apredetermined picking aisle 130A. The rover 110 enters the picking aisle130A and stops at a predetermined storage location. (FIG. 5D, Block500). As noted above, the rover 110 includes end effector 200E havingarms 220A, 220B that are configured to straddle and interface withopposing sides 210S1, 210S2 of the pickface 210 and to transfer thepickface 210 to and from the payload bed 200. As may be realized, whenthe arms 220A, 220B are retracted within the payload bed 200 and therover 110 is not carrying a pickface, the arms 220A, 220B are separatedby a distance D1 that is substantially larger than a width W of thewidest pickface the rover is capable of carrying and/or that is storedin the storage and retrieval system 100. The rover controller 110Coperates the end effector drive section 260 to longitudinally move oneor more of the arms 220A, 220B to align the arms 220A, 220B with thestorage location according to, for example, the width W of the pickface210 (FIG. 2B). In one aspect, the rover 110 includes any suitablesensors (as will be described below) configured to detect the sides210S1, 210S2 of the pickface(s) located on the storage shelves 140 asthe rover moves along the picking aisle(s) 130A (FIG. 1 ). In otheraspects the pickfaces 210 are positioned on the storage shelves 140relative to predetermined features of the storage shelves such that thesensors may detect the predetermined features of the storage shelves todetermine the locations of the pickface (and the pickface sides). In oneaspect, the case sensors are substantially similar to those described inU.S. patent application Ser. No. 13/327,035 filed on Dec. 15, 2011 (PGPub. 2012/0189410) and Ser. No. 13/608,877 filed on Sep. 10, 2012entitled “Storage and Retrieval System Case Unit Detection,” thedisclosures of which are incorporated by reference herein in theirentireties. The rover 110 moves one or more of the arms 220A, 220B toadjust the distance D1 between the arms 220A, 220B so that when extendedthe arms 220A, 220B are positioned within the spaces SP (FIG. 2C) oneither side of the pickface 210 to be transferred to the payload bed200. As described above, in one aspect the rover 110 includesjustification in the direction of arrow 297, the telescoping arms of therover are moved as a unit in the direction of arrow 297 to further alignthe arms with the pickface upon picking the pickface from a holdinglocation (or to align the pickface with a holding location uponplacement of the pickface at a holding location), e.g. fine positioningof the telescoping arms relative to a pickface holding location (FIG.5D, Block 501A). The rover 110 controller 110C (FIG. 1 ) commands thedrives 260A, 260C to raise the arms 220A, 220B to a level substantiallyequal to or above the support surface 140S of the pickface holdinglocation and extend the arms 220A, 220B a predetermined distance intothe storage shelf 140 so that the fingers 250 are substantially alignedwith the pickface(s) 210 and so that the fingers are positioned in thespaces SP2 between the shelf support surfaces 140S (FIG. 5D, Block 502).In one aspect the arms 220A, 220B are moved in direction 298 independentof a support surface of the payload bed 200 while in other aspects thesupport surface of the payload bed also are configured move (either bythe drive 260C or with a payload bed lift drive) in direction 298 sothat the payload bed support surface is adjacent the support surface140S from which the pickface is to be transferred from/to in a mannersubstantially similar to that described in U.S. provisional patentapplication 61/790,801 previously incorporated by reference herein inits entirety. In one aspect, any suitable sensor 257 provides feedbackto the controller 110C for determining how deep the arms 220A, 220B areextended into the storage location and to determine the leading andtrailing edge boundaries (with respect to the direction of extension ofthe arms 220A, 220B) of the pickface (as will be described below withrespect to the justification of the pickface). The arms 220A, 220B arelowered with drive 260C so that the fingers are positioned apredetermined distance D2 below the shelf support surface 140S (FIG. 5D,Block 503). One or more of the arms 220A, 220B are moved in thedirection of arrow 297 with drive 260B towards the sides 210S1, 210S2 ofthe pickface 210 so that the surface 301S of, for example, telescopingmember 301 lightly grips the pickface (e.g. where lightly grip meanstouching the pickface for alignment of the pickface such that thetouching does not provide enough grip to hold the pickface for liftingthe pickface off the storage shelf) and the fingers 250 are locatedbeneath the pickface 210 (FIG. 5D, Block 504). In other aspects thesurfaces 301S may provide sufficient grip for lifting the pickface. Thepickface 210 may be lifted in the direction of arrow 298 any suitabledistance D3 from the storage shelf 140 by lifting the arms 220A, 220Busing drive 260C so that the fingers 250 are raised to contact bottom210B (FIG. 2A) of the pickface (e.g. the pickface may slide along thesurface 301S to allow contact between the fingers 250 and the bottom210B of the pickface) (FIG. 5D, Block 505) for supporting the weight ofthe pickface. The arms 220A, 220B may be retracted in the direction ofarrow 299 so that the pickface is located above the payload bed 200(FIG. 5D, Block 506) and the pickface 210 may be lowered in thedirection of arrow 298 into the payload bed 200 (FIG. 5D, Block 507).When located within the payload bed the pickface 210 is, in one aspect,supported by the fingers and/or by any suitable support surface of thepayload bed 200. As may be realized, the surfaces 301S are, in oneaspect, employed to justify the pickface (FIG. 5D, Block 508) within thepayload bed (e.g. locate the pickface at a predetermined positionrelative to one or more reference datums of the payload bed) in anysuitable manner such as that described below where one or more of thearms 220A, 220B are moved in the direction of arrow 297 forjustification of the pickface.

During transport of the pickface 210, the pickface is, in one aspect,held or clamped by the surfaces 301S of the arms 220A, 220B or any othersuitable alignment/gripping surfaces of the rover. To place the pickface210 into any suitable pickface holding location the rover 110 may bepositioned at a predetermined location relative to the pickface holdinglocation. In one aspect, where the pickface 210 is justified, thepickface 210 is moved by the arms 220A, 220B in the direction of arrow297 within the payload bed 200 to align the pickface 210 with thepickface holding location. In other aspects the positioning of the rover110 effects alignment of the pickface 210 with the pickface holdinglocation. The arms 220A, 220B raise the pickface to a levelsubstantially equal to or above the support surface 140S of the pickfaceholding location and the arms transfer the pickface 210 onto the supportsurface 140S of the pickface holding location in a manner substantiallyopposite to that described above for transferring the pickface onto thepayload bed 200. As may be realized, while transfer of payload to andfrom the rover 110 is described with respect to pickface 210 it shouldbe understood that the above-description also applies to transfer ofindividual case units to and from the rover 110. In addition, whilereference is made to the storage shelf 140, 140′, 140A, 140B it shouldbe understood that the rover may transfer a case unit and/or a pickfaceformed of case units to any suitable pickface holding location such asthe storage shelves 140, 140′, 140A, 140B, a shelf of a lift 150A, 150Bor any other suitable location.

Referring again to FIGS. 2B, 2D and 5A-5D an exemplary pickface buildingoperation of the rover 110 will be described. The rover 110 ispositioned to transfer one or more first pickfaces 210 from a shelf tothe rover 110 in a manner substantially similar to that described above(FIG. 17 , Block 8000). A spacing D1 between the arms 220A, 220B isadjusted in the direction of arrow 297 to align the arms 220A, 220B withthe one or more first pickfaces 210 (so as to fit in the space SPbetween adjacent case units/pickfaces) as illustrated in FIG. 2C (FIG.17 , Block 8001). As described above, in one aspect the rover 110includes justification in the direction of arrow 297, the telescopingarms of the rover are moved as a unit in the direction of arrow 297 tofurther align the telescoping arms 220A, 220B with the one or more firstpickfaces 210, e.g. fine positioning of the telescoping arms relative toa pickface holding location (FIG. 17 , Block 8001A). The telescopic arms220A, 220B are extended and retracted in the direction of arrows 299A,299B to transfer the one or more first pickfaces 210 to the payload bay(FIG. 17 , Block 8003) in the manner described above with respect toBlocks 502-508 of FIG. 5D. Once the one or more first pickfaces 210 arepositioned within the payload bed 200 the rover 110 traverses thepicking structure and is positioned relative to another pickface holdinglocation (FIG. 17 , Block 8000) for the transfer of one or more secondpickfaces 210X (FIG. 2C) to the payload bay 200. The one or more firstpickfaces 210 within the payload bay are unclamped and the spacingbetween the telescoping arms 220A, 220B are adjusted (FIG. 17 , Block8001) and/or justified (FIG. 17 , Block 8001A) so as to align thetelescoping arms 220A, 220B with the one or more second pickfaces 210Xin the other pickface holding location. As may be realized, the one ormore first pickfaces 210 already held on the payload bed 200 are movedwith the telescoping arms 220A, 220B in the direction of arrow 297 asthe telescoping arms are justified. The telescopic arms 220A, 220B areextended and retracted in the direction of arrows 299A, 299B to transferthe one or more second pickfaces 210X to the payload bay (FIG. 17 ,Block 8003) in the manner described above with respect to Blocks 502-508of FIG. 5D. As may be realized, during the transfer of the one or moresecond pickfaces into the payload bay 200 the telescoping arms 220A,220B may be spaced from the sides of the one or more first pickfaces 210so that the fingers 250 do not contact the one or more first pickfacesin the payload bay 200 (and/or referring FIGS. 3B and 3C one or more ofthe fingers 250′, 250″ are positioned, e.g. retracted, so as to notcontact the pickface 210 in the payload bay 200). In other aspects thefingers 250 furthest from the free ends FE (FIG. 2D) of the arms 220A,220B are longer than the fingers 250 adjacent the free ends FE so thatthe one or more first pickfaces 210 are held by the arms 220A, 220Bduring picking of the one or more second pickfaces 210X while stillallowing the arms 220A, 220B to be spaced apart so as to straddle theone or more second pickfaces 210X without contact as the arms 220A, 220Bare extended into the holding location. The one or more first and secondpickfaces 210, 210X are transferred as a unit by the rover 110 andplaced at a pickface holding location as a unit (or at more than onepickface holding location separately) in a manner substantially oppositeto that described above with respect to transfer of the pickfaces 210,210X into the payload bed 200.

In one aspect, as noted above, the rover 110 include justificationfeatures such as those described in U.S. provisional patent applicationSer. No. 14/215,310 filed on Mar. 17, 2014 entitled “Automated Storageand Retrieval System,” previously incorporated by reference herein inits entirety. For example, in one aspect, the rover 110 includes activeside justification (where, as noted above, one arm 220A, 220B is fixedand the other arm 220A, 220B is movable in direction 297 or where botharms 220A, 220B are movable in direction 297). Suitable sensors 257 forphysical confirmation of case boundaries (FIG. 2A) may also be locatedadjacent to or within the payload bed 200 and/or on one or more of thearms 220A, 220B. In one aspect the sensors 257 are beam line or curtainsensors disposed on the arms 220A, 220B of the rover. The sensors 257allow the rover to, on placing pickfaces, confirm empty and adequatespace exists on any suitable pickface holding location, such as forexample a storage shelf 140, 140′, 140A, 140B for a pickface and toconfirm that the pickface is placed with the correct setback (e.g. thedistance the pickface is located from a picking aisle edge of thepickface holding location or any other suitable reference datum). Onpicking pickfaces 210 from a storage location the sensors 257 allow forcase targeting and confirmation of the depth to which the arms 220A,220B are extended into the storage location. The arms 220A, 220B also,in one aspect, provide guidance for pickfaces being placed in deepstorage locations (e.g. at storage locations that are distant from anedge of, e.g., the storage shelf 140).

Where justification of the pickfaces is provided, the payload bed 200 ofthe rover 110 is, in one aspect, configured to allow multi-degree offreedom sliding movement of the pickface 210 (and the case units formingthe pickface) along the surface of the payload bed 200. In one aspectthe payload bed is a substantially flat surface constructed of anysuitable material having a low coefficient of friction, while in otheraspects the payload bed include a plurality of ball bearings on whichthe pickface rides, while in still other aspects the payload bed 200 hasany suitable construction, such as that describe above, that allows forthe multi-degree of freedom sliding movement of the pickface 210 (andthe case units forming the pickface) along the surface of the payloadbed 200. In other aspects the pickface is justified while being heldabove the payload bed surface by the fingers 250.

As noted above, referring to FIG. 6 , in one aspect, the rover 110includes any suitable sensors for detecting the position of thepickface(s) 210 located on the storage shelves 140. In one aspect of thedisclosed embodiment, the rover includes one or more beam sensors 600,601 and/or proximity sensors 602, 603 that may be positioned on theframe 110F of the rover 110 below the payload bed 200 to sensepredetermined features or targets 611, 612, 613 (e.g. slots,protrusions, etc.) disposed on or in horizontal supports 282 of thestorage shelf 140. For example, the sensors 600, 601, 602, 603 arepositioned, for example, to sense the targets 611, 612, 613 on thehorizontal supports 282 so that as each target 611, 612, 613 is sensedby a respective sensor 600, 601, 602, 603 that sensor produces an on/offsignal for determining a position of the rover in a manner substantiallysimilar to that described in U.S. provisional patent application No.61/790,801. As may be realized, the rover has sensors 700, 701 on bothlateral sides of the rover 110S1, 110S2 so that the sensors 600, 601,602, 603 may detect the targets 611, 612, 613 regardless of the travelorientation of the rover where the targets 611, 612, 613 are located onbut one horizontal support 282 in the picking aisle 130A. As may berealized, where the sensors are to detect the pickfaces 210 located onthe storage shelf 140 rather than the targets the sensors are located onthe rover at any suitable height for detecting the pickfaces 210. In oneaspect the beam sensors 600, 601 and one or more proximity sensors 602,603 are used in conjunction with each other for determining a positionof the rover within the storage structure. In one aspect the proximitysensors 602, 603 is used to determine a location of the rover within thepicking aisle 130A while the beam sensors 600, 601 is used to determinea location of the rover in an area between the targets 611, 612, 613 foraligning the arms 220A, 220B of the rover 110 with the spaces SP betweenthe pickfaces 210 for transferring pickfaces 210 between the rover 110and the storage shelf 140, while in other aspects the beam sensors 600,601 and proximity sensors 602, 603 are used in any suitable manner fordetermining a location of the rover within the storage structure and fortransferring pickfaces between the rover 110 and the storage shelves140.

Referring now to FIG. 8 a rover 110 is illustrated in accordance with anaspect of the disclosed embodiment. The rover 110 is substantiallysimilar to that described above except where noted. Here the rover 110includes a frame 110F having a first end 110E1 and a second end 110E2longitudinally spaced from the first end 110E1. The frame 110F forms apayload area 200A in which a Cartesian telescopic manipulator 800E ismounted. The manipulator 800E, as will be described below, is configuredto handle pickfaces 210 (FIG. 2A) of variable length and width by, forexample pushing or pulling the pickfaces 210 between any suitablestorage shelf and a payload bay of the rover 110. In one aspect thestorage shelf may be substantially similar to storage shelf 140 (FIG.2A) described above while in other aspects the storage shelf may includea substantially flat pickface support surface or a slatted pickfacesupport surface rather than a wire rack pickface support surface.

In this aspect the manipulator 800E includes a drive section having atleast a three degree of freedom drive (as will be described below), oneor more telescoping arms 802A, 802B (e.g. generally end effector 802), apayload bay 200 and at least one mast assembly or member 801A, 801B. Inone aspect the payload bay 200 is suspended between two mast assembliesor members 801A, 801B which are mounted to the payload area 200A of theframe 110F while in other aspects the payload bay 200 may becantilevered from a single mast member (such as one of mast members801A, 801B). The mast members 801A, 801B, as will be described ingreater detail below, include guides for effecting movement of thepayload bay 200 in the direction of arrow 298 (e.g. vertically relativeto a surface on which the rover travels). The end effector 802 ismounted at least partly within the payload bay 200 so as to extend andretract in the direction of arrow 299 so as to reach/extend outside ofthe payload bay 200 for transferring pickfaces 210 between the payloadbay 200 and a shelf 140. Here the end effector 802 includes twotelescoping arms 802A, 802B disposed substantially at opposite sides(e.g. in the direction of arrow 297) of the payload bay 200. Thetelescoping arms 802A, 802B are mounted at least partly within thepayload bay 200 so as to be movable towards and away from each otherwithin the payload bay in the direction of arrow 297. As may berealized, the payload pay 200 is configured to support a pickface 210within the payload bed 200 in any suitable manner such as on asubstantially flat surface or plate 200S.

Referring now to FIG. 9 , in one aspect the mast members 801A, 801B(generally referred to as mast member 801) have substantially the sameconfiguration while in other aspects the mast members 801A, 801B mayeach have any suitable configuration. Here each mast member 801 includesa frame 801F, a carriage 803 and a drive 810 (e.g. a vertical drive).The frame 801F forms two opposing channels 801C disposed on oppositevertical sides of the frame 801F. The carriage 803 extends between andis mounted within the channels 801C so as to move vertically in thedirection of arrow 298. For example, referring also to FIG. 10 , thecarriage 803 includes guide wheel members or assemblies 803G mounted atopposite ends 803E1, 803E2 of the carriage 803. Each guide wheel memberincludes one or more guide wheels 803R1A, 803R1B, 803R2 that engage oneor more sides of a respective channel 801C. For example, each guidemember 803G includes guide wheels 803R1A, 803R1B, 803R2 that stabilizethe carriage in one or more of directions 297, 299. Here, as can also beseen in FIG. 9A, each guide member 803G includes one or more guidewheels 803R1A, 803R1B that engage opposite sides 801CS1, 803CS2 of acommon channel 801C (e.g. wheel 803R1A engages side 803CS2 while wheel803R1B engages side 803CS1 or vice versa) so as to stabilize movement ofthe carriage 803 in the direction of arrow 297 and one or more guidewheels 803R2 that engages the other side of the channel 801C (spanningbetween the opposite sides) for stabilizing movement of the carriage 803in the direction of arrow 299. As may be realized, the guide wheelmembers 803G are mirror images of one another so that the uppermost(e.g. in the vertical direction of arrow 298) wheels 803R1A (at end803E2), 803R1B (at end 803E1) engage opposite sides of the respectivechannels and the lowermost wheels 803R1B (at end 803E2), 803R1A (at end803E1) engage opposite sides of the respective channels so as tosubstantially eliminate torsional movement TM1 of the carriage withinthe channels 801C about an axis extending in the direction of arrow 299.Torsional movement TM2 of the carriage 803 about an axis extending inthe direction of arrow 297 is substantially eliminated with a wire ropereeving that includes wires 803W1, 803W2 and pulleys 803P1, 803P2, wherethe pulleys 803Pa, 803P2 are mounted to the carriage 803 and ends 803WEof wires 803W1, 803W2 are anchored to, for example a respective mastmember 801. As can be seen in FIG. 10 , the wire rope reeving isarranged so that the wire ropes 802W1, 803W2 pass through the pulleys soas to cross and exit the reeving at an opposite side and/or end of theframe 803F. For example, wire rope 803W1 enters the frame at end 803E2,engages pulley 803P1, travels along a length of the frame, engagespulley 803P2 and then exits the frame from the opposite side at oppositeend 803E1. Similarly, wire rope 803W2 enters the frame at end 803E1,engages pulley 803P2, travels along a length of the frame while crossingwire rope 803W1, engages pulley 803P1 and then exits the frame from theopposite side at opposite end 803E2. This crossed reeving arrangementconstrains the carriage in a predetermined orientation (e.g.horizontally) for travel along the mast 801.

The carriage 803 is driven in the direction of arrow 298 in any suitablemanner such as by drive 810 (e.g. vertical drive) which includes a beltand pulley drive system but in other aspects a lead screw drive or otherlinear actuator drives the carriage in the direction of arrow 298. Thedrive 810 includes a frame 810F that is mounted to the mast 801. A drivemotor 260C is mounted to the frame 810F so as to drive belt 810B with apulley 810P2 mounted to an output shaft of the drive motor 260C. Thebelt 810B is wound around and guided by one or more pulleys 801P1,801P3, 801P2, which are mounted to the frame 810F. The belt 810B isfixed to the carriage via mount 803B of the carriage 803 so that as thebelt 810B moves the carriage 803 moves with the belt 810B in thedirection of arrow 298. As may be realized, as each mast member 801A,801B includes a respective vertical drive, the drives 810 are driven bya Master-Slave control system, such as controller 110C (FIG. 1 ) so thepayload bay 200 suspended between the mast members 801A, 801B is keptlevel. The vertical positioning of the payload bay 200 within limits oftravel defined by, for example, at least the mast members 801 isinfinite. As may be realized, a height of the channels 801C and/or widthof the frame 801F (e.g. a distance between the opposing channels 801C)are/is suitably sized depending on a travel height H and/or depth D ofthe payload bay 200. As can be seen in FIG. 9 , each mast member 801includes channels 801A so that the carriage 803 and the payload bay 200can be coupled to each other so that the carriage(s) 803 support orotherwise carry the payload bay 200 (e.g. the payload bay depends fromthe carriage(s) 803).

Referring now to FIGS. 8 and 11 , the payload bay 200 includes a frame200F and a pickface support surface 200S (not shown in FIG. 11 ) mountedto the frame 200F. The frame 200F defines opposing channels 200C1, 200C2in which two effector carriages 200G1, 200G2 are mounted so as to travelin the direction of arrow 297. Referring also to FIGS. 12A and 12B eacheffector carriage (generally effector carriage 200G) includes a frame200GF having guide wheel carriages 200RC disposed at opposite ends200GE1, 200GE2. Each guide wheel carriage 200RC includes one or moreguide wheels 200GP1A-200GP1D configured to engage one or more walls ofthe channel 200C to stabilize movement of the effector carriage 200Gfrom movement in the directions of arrows 298, 299. For example,referring to FIG. 11A, each guide wheel carriage 200RC includes one ormore guide wheels that engages the opposing sides 200CS1, 200CS2 of arespective channel 200C so as to stabilize movement of the effectorcarriage 200G in the direction of arrow 298 (as well as substantiallyeliminate torsional movement TM3 of the effector carriage 200G about anaxis substantially parallel with the direction 299) and one or moreguide wheels that engage the other wall 200CS3 of the respective channel200C so as to stabilize movement of the effector carriage 200G in thedirection of arrow 299. Torsional movement TM4 of the effector carriage200G about an axis substantially parallel with the direction of arrow298 is substantially eliminated by a wire rope reeving (which is similarto that described above) in a manner substantially similar to thatdescribed above with respect to carriage 803 where the wire rope reevingincludes wires 200W1, 200W2 and pulleys 200P1-200P4 mounted to the frame200GF where the ends 200WE of the wires 200W1, 200W2 are secured orotherwise fixed to, for example, the frame 200F of the payload bed orany other suitable portion of the rover 110. Each effector carriage alsoincludes a drive belt coupling member 200GBA for fixing the respectiveeffector carriage 200G to the drive belt 260DB. A motor 260D, mounted tothe frame 200F, drives the drive belt 260DB (which is mounted to theframe 200F with pulleys 260DP1, 260DP2) to move the effector carriages200G1, 200G2 towards and away from each other where one effectorcarriage 200G1 is attached to a top 260DBT of the drive belt 260DB(which loops around the pulleys 260DP1, 260DP2) and other effectorcarriage 200G2 is attached to a bottom 260DBB of the drive belt 260DPloop. The effector carriage 200G1, 200G2 positions are infinite betweentheir limits of travel. The length and width of the payload bay 200 canbe sized to support a pickface having any suitable length and width asthe effector carriages 200G1, 200G2 are adjusted to accommodate varioussize pickfaces. As may be realized, one or more arm mounts 200M areaffixed to each effector carriage 200G1, 200G2 so that the telescopingarms 802A, 802B are mounted to a respective one of the carriages 200G1,200G2. The arm mounts 200M extend through the pickface support surface200S of the payload bay 200 so as to travel within slots or apertures200SA formed in the pickface support surface 200S. In another aspect,each effector carriage 200G1, 200G1 is movable independent of the othereffector carriage in a manner similar to that described above so that apickface(s) is justified in the direction of arrow 297 relative to theframe 110F and/or a pickface holding location. For example, in thisaspect one of the effector carriages 200G1, 200G2 is coupled to thedrive belt 260DB for movement in the direction of arrow 297 by motor260D. The other effector carriage 200G1, 200G2 is coupled to a seconddrive belt 260DB2 (in a manner substantially similar to that describedabove) for movement in the direction of arrow 297 by a second motor260D2 (substantially similar to motor 260D). Here each effectorcarriage, and hence each telescoping arm 802A, 802B, is independentlymovable and movable together so that a pickface can be justified in thedirection of arrow 297 by moving one or more of the telescoping arms802A, 802B.

Referring now to FIGS. 13, 14A and 14B, each of the telescoping arms802A, 802B includes three links 802FL, 802CL, 802IL but in other aspectseach telescoping arm 802A, 802B includes any suitable number of links,such as more or less than two links. Here each telescoping arm includesa fixed link 802FL mounted to the arm mounts 200M, a center link 802CL,and inner link 802IL. The center link 802CL is mounted to the fixed link802FL through any suitable linear slide 802CR or other linearly movablejoint so as to be movable relative to the fixed link 802FL in thedirection of arrow 299. The inner link 802IL is mounted to the centerlink 802CL through any suitable linear slide 802IR or other linearlymovable joint so as to be movable relative to the center link 802CL inthe direction of arrow 299. A drive belt 501B is mounted on the fixedlink 802FL through pulleys 501P1, 501P2 where pulley 501P1 is driven adriven pulley having a drive coupling 501. A drive motor 260A is mountedto the frame 200F and is operatively coupled to one or more drive shafts500A, 500B (two drive shafts are shown in the drawings while in otheraspects more or less than two drive shafts are employed) through anysuitable transmission 260AT such as, for example, a belt and pulleytransmission, a gear drive transmission, a chain drive transmission orany other drive coupling. The one or more drive shafts 500A, 500Bconnect the motor to the drive coupling 501 so as to drive the pulley501P1 and hence, the belt 501B. The center link 8012CL is coupled to thebelt 501B with coupling 501C so that as the belt 501B moves the centerlink 802CL moves with the belt 501B in the direction of arrow 299.Another drive belt 501B2 is mounted on the center link 802CL withpulleys in a manner similar to that described above with respect to belt501B. The belt 501B2 is fixed to both the fixed link 802FL and the innerlink 802IL so that as the center link 802CL is driven in the directionof arrow 299, the slaved nature of the belt 501B2 causes relativemovement between the inner link 802IL and the center link 802CL so thatthe inner link 802IL also moves in the direction of arrow 299 and thelinks 802FL, 802CL, 802IL extend in a telescoping manner.

In one aspect a pickface engagement or pusher member 900T is mounted tothe inner link 802IL so as to be movable in the direction of arrow 299.Another pickface engagement or finger member 900F is also mounted oninner link 802IL so as to be rotatable about an axis FAX, which issubstantially parallel with the direction of arrow 299, so as to berotated between a deployed position (see FIG. 14B) and a retractedposition (see FIG. 14A). The pusher member 900T is driven by a lineardrive or actuator 900TM so as to reciprocate in the direction of arrow299 within aperture 900TA of the inner link 802IL. The pusher member900T includes a pickface engagement surface 900TS that extends in thedirection of arrow 297 towards a centerline PBCL of the payload bay 200so as to, when moved in the direction of arrow 299A, push a pickfaceonto a predetermined shelf 140. In one aspect the pusher member 900Teffects a justification of a pickface(s), when being placed into apickface holding location, in the direction of arrow 299 independent of,for example, one or more of pickface size, the storage rack structure(e.g. the pickface holding location) and extension/retraction of thetelescoping arms 802A, 802B. In other words the movement of the pushermember in the direction of arrow 299 effects an independently variablejustification of a pickface along a direction of extension andretraction across the storage rack (pickface holding location) andindependent of the extension/retraction of the telescoping arms 802A,802B. As may be realized, in one aspect, the movement of one or more ofthe pusher member 900T in the direction of arrow 299 along with themovement of the arms 802A, 802B in the direction of one or more ofarrows 299, 297 is in a plane substantially parallel with a pickfacesupport plane of the payload bed/area to effect the full payload areajustification (e.g., as noted above, a justification of the payloadanywhere in within the payload bed and anywhere within a storage shelfarea that is accessible by the arms 220A, 220B) of the at least onepickface independent of a size of the at least one pickface.

The finger member 900F is rotatably mounted on the inner link 802ILthrough any suitable drive such as rotary motor 900FM. Also referring toFIG. 13A, the finger member 900F is disposed in the retracted positionto allow the pickface 210 to travel past the free end FE when beingpushed onto a shelf 140 or during extension of the end effector 802 intoa pickface storage location on a shelf 140, e.g. so that eachtelescoping arm is extended between adjacent pickfaces so as to straddlea pickface being picked without interfering with the pickfaces locatedon the shelf 140. The finger member 900F includes a pickface engagementsurface 900FS that engages a predetermined pickface to pull the pickfaceoff the shelf 140 as the telescoping arms 802A, 802B move out of theshelves and transport the pickface into the payload bay 200. As can beseen in FIGS. 13, 14A, 14B the finger member 900F is located at the freeend FE of the inner link 802IL and rotates about axis FAX. In operation,when the telescoping arms 802A, 802B (e.g. the end effector 802) areextended into a shelf 140 for picking a pickface 210 the finger member900F is positioned past the end 210E of the pickface 210 and thenrotated to the deployed position so that the pickface engagement surface900FS is disposed behind the pickface 210. As the end effector 802 isretracted in the direction of arrow 299B the pickface engagementsurfaces 900FS of the fingers 900F engage the pickface 210 and pull thepickface 210 into the payload bay 200.

As may be realized, the pusher member 900T is movable in the directionof arrow 299 towards or away from the finger member 900F. Thisreciprocating movement of the pusher member 900T relative to the fingermember 900F effects the gripping (e.g. capture) and releasing ofpickfaces (e.g. pickfaces having varying depths/sizes DP) between thefinger members 900F and the pusher members 900T. Relative movementbetween the pusher members 900T and the finger members 900F also effectsa justification of a pickface at the free end FE of the telescoping arms802A, 802B (e.g. the end effector 802) so that the pickface is be pushedonto a shelf at an infinite number of predetermined positions dependenton, for example, an extension length of the end effector 802.

In one aspect, one or more of the telescoping arms 802A, 802B includes awireless control module 910 for controlling the pusher member motor900TM and finger motor 900FM of a respective one of the arms or botharms 802A, 802B. As may be realized, in one aspect each telescoping arm802A, 802B includes a respective wireless control module 910 forcontrolling the respective motors 900TM, 900FM while in other aspects acommon wireless control module 910 can control the motors 900TM, 900FMon both telescoping arms 802A, 802B. The wireless control module(s) 910is mounted to the inner link 802IL of a respective telescoping arm 802A,802B while in other aspects the wireless control module 910 is mountedat any suitable location of the respective telescoping arm 802A, 802B.The wireless control module 910 is configured for wireless communicationwith, for example, the rover controller 110C (FIG. 1 ) in any suitablemanner such as, for example, Bluetooth, infrared, radio frequency or anyother form of wireless communication. The wireless control module 910includes a battery 910B to provide power to the motors 900TM, 900FM andcontacts 910C for charging the battery 910B. For example, when thetelescoping arms 802A, 802B are in there home or fully retractedconfiguration/position, as illustrated in FIGS. 8 and 13 , the contacts910C engage contacts 200CT of the payload bay 200 so that the batteriesare recharged. Here the contacts are illustrated as mechanical contactsbut in other aspects the recharging of the battery 910B may be effectivethrough contactless charging such as by induction. As may be realized,wireless control of the pusher member motor 900TM and the finger motor900FM substantially eliminates flexing wires between, for example, thepayload bay 200 and each link of the telescoping arms 802A, 802B whichcan occupy a lot of space and can be a reliability problem.

In one aspect a single motor, such as motor 260A, drives both telescopicarms as best illustrated in FIG. 13 . As described above, the motor 260Ais mounted to the frame 200F of the payload bay 200 at, for example, inthe middle rear of the payload bay 200 but in other aspects the motor260A may be mounted at any suitable location relative to the payload bay200. The motor 260A is coupled to any suitable transmission such as beltand pulley transmission 260AT, a chain drive transmission, a gear drivetransmission or any other transmission. The transmission 260AT couplesan output shaft of the motor 260A with, for example, drive shafts 500A,500B which are oriented substantially perpendicular to the telescopingarm 802A, 802B so as to extend in either direction from, for example,the transmission 260AT. While two drive shafts 500A, 500B areillustrated, in other aspects a single drive is used. The drive shafts500A, 500B may be any suitable shafts that include any suitable driveengagement or coupling such as, for example, spline couplings, hexcouplings, flange couplings, beam couplings, rigid couplings or anyother coupling for coupling the shafts 500A, 500B to the transmission260AT and pulleys 501P1 as will be described below. For example, asdescribed above, pulley 501P1 includes a drive coupling 501 that mateswith the drive coupling of a respective one of the drive shafts 500A,500B. In one aspect the coupling between the shafts 500A, 500B and thepulley 501P1 is a floating coupling so that the drive shafts 500A, 500Bare supported by the drive coupling 501 of the pulleys 501PS disposed onin the fixed arms links 802FL in order to avoid binding from, forexample, misalignment. As each pulley 501P1 is driven by a respectivedrive shaft 500A, 500B, each pulley 501P1 in turn drives the belt 501Bon the fixed arm link 802FL of each arm 802A, 802B so as to power orotherwise drive the telescopic motion of the arms 802A, 802B. In oneaspect the drive shafts 500A, 500B are configured so the drive couplingextends along the length of the drive shaft 500A, 500B so that thepulley 501P1 is able to slide along the length of the respective driveshaft 500A, 500B while maintaining a driving engagement with the driveshaft 500A, 500B. For example, as the arms 802A, 802B are moved towardsor away from each other in the direction of arrow 297 the coupling 501of each pulley 501P1 slides along the drive shaft 500A, 500B allowingthe arms to be extended and retracted in an infinite number of positionswithin the limits of travel along the direction of arrow 297.

As may be realized, because of the way loads are distributed in themanipulator 800E, the structure of the manipulator 800E (as describedherein) can be extremely light weight. For example, the masts 801A,802B, payload bay 200 and the components thereon (e.g. for driving thetelescoping arms 802A, 802B in the directions of arrows 298, 297 employstandard aluminum channel and aluminum skins held together with highstrength adhesive. This type of construction allows the individualframes 200F, 200GF, 801F, 803F to be configured for large or smallpayloads depending on the variation of pickfaces to be handled. Thetelescopic arms 802A, 802B are also easily configured for varied depthsof travel.

Referring again to FIG. 8 an exemplary operation of the manipulator 800Ewill be described. The rover 110 is positioned to transfer a pickfacefrom a shelf to the rover 110 in a manner substantially similar to thatdescribed above (FIG. 15 , Block 5000). A spacing between D1′ betweenthe arms 802A, 802B is adjusted in the direction of arrow 297 to alignthe arms 802A, 802B with a pickface (so as to fit in the space SPbetween adjacent pickfaces) as illustrated in FIG. 13A (FIG. 15 , Block5001). As described above, in one aspect the rover 110 includesjustification in the direction of arrow 297, the telescoping arms of therover are moved as a unit in the direction of arrow 297 to further alignthe pickface with a holding location (or to align the arms with thepickface), e.g. fine positioning of the telescoping arms relative to apickface holding location (FIG. 15 , Block 5001A). The payload bay 200is moved in the direction of arrow 298 to substantially align thepickface support surface 200S of the payload bay 200 with a supportsurface (or plane) 140SPL of the shelf 140 as illustrated in FIG. 13B(FIG. 15 , Block 5002). The telescopic arms 802A, 802B are extended inthe direction of arrow 299A (e.g. with the fingers 900F in the retractedposition) so that the fingers 900F are placed behind (relative to therover 110) or past an end 210E of the pickface 210 as illustrated inFIG. 13A) (FIG. 15 , Block 5003). The fingers 900F are rotated to adeployed position (as illustrated in FIGS. 13A and 14B) (FIG. 15 , Block5004) and the telescoping arms 802A, 802B are retracted in the directionof arrow 299B so that the fingers 900F engage the pickface 210 and pull(e.g. slide) the pickface from the shelf 140 to the pickface supportsurface 200S of the payload bay 200 (FIG. 15 , Block 5005). As may berealized, suitable clearance is provided between the inner arm links802IL and the pickface 210 to allow the pickface to move between theinner arm links 802IL, however it should be understood that in oneaspect the clearance is minimal so that the inner arm links 802IL guidemovement of and justify (in the direction of arrow 297) the pickfacewithin the payload bay. In other aspects the pickface is justified inthe direction of arrow 297 in the payload bay 200, e.g. along acenterline CL (FIG. 13 ) of the payload bay 200 where the telescopingarms 802A, 802B are moved towards in other in the direction of arrow 297for positioning a centerline of the pickface 210 along the centerline CLof the payload bay 200 (FIG. 15 , Block 5006). The pusher members 900Tare actuated in the direction of arrow 299A so as to move the pickface210 against the fingers 900F so as to capture or clamp the pickface 210between the pusher member(s) 900T and the finger(s) 900F (FIG. 15 ,Block 5007) to allow, for example, transport of the pickface. As may berealized the clamping of the pickface 210 between the pusher member(s)900T and the fingers 900F also justifies the pickface 210 in thedirection of arrow 299 so that the pickface can be placed at anysuitable depth on a predetermined shelf 140 or other holding location(FIG. 15 , Block 5008). In other aspects, the fingers 900F aredisengaged from the pickface and the movement of the pusher members(s)900T alone, in the direction of arrow 299, effects the justification ofthe pickface 210 in the direction of arrow 299 so that the pickface canbe placed at any suitable depth on a predetermined shelf 140 or otherholding location. As may be realized, the picking process describedabove may be repeated so that multiple pickfaces are arranged along thedirection of arrow 299 within the payload bay 200.

To place the pickface 210 the rover 110 is positioned to transfer apickface from a shelf to the rover 110 in a manner substantially similarto that described above (FIG. 16 , Block 6001). As described above, inone aspect the rover 110 includes justification in the direction ofarrow 297, the telescoping arms of the rover are moved as a unit in thedirection of arrow 297 to further align the pickface with a holdinglocation (or to align the arms with the pickface), e.g. fine positioningof the telescoping arms relative to a pickface holding location (FIG. 16, Block 6001A). The payload bay 200 is moved in the direction of arrow298 to substantially align the pickface support surface 200S of thepayload bay 200 with a support surface (or plane) 140SPL of the shelf140 as illustrated in FIG. 13B (FIG. 16 , Block 6002). The fingers 900Fare rotated to the retracted position shown in, e.g., FIG. 14A (as maybe realized the gripping of the pickface between the pusher member(s)900T and the finger(s) 900F may be sufficiently released to allowmovement of the finger(s) 900F) (FIG. 16 , Block 6003). The telescopingarms 802A, 802B are extended in the direction of arrow 299A so that thepusher members 900T push or slide the pickface 210 from the pickfacesupport surface 200S of the payload bay to a support surface 140SPL ofthe shelf 140 or other pickface holding location (FIG. 16 , Block 6004).In one aspect the pusher members 900T are moved in the direction ofarrow 299A during and/or after the extension of the telescoping arms802A, 802B to further position the pickface in the direction of arrow299A. Referring again to FIG. 8 an exemplary pickface building operationof the rover 110 will be described. The rover 110 is positioned totransfer one or more first pickfaces 210 (FIG. 2C) from a shelf to therover 110 in a manner substantially similar to that described above(FIG. 18 , Block 7000). A spacing D1′ between the arms 802A, 802B isadjusted in the direction of arrow 297 to align the arms 802A, 802B withthe one or more first pickfaces 210 (so as to fit in the space SPbetween adjacent case units/pickfaces) as illustrated in FIG. 13A (FIG.18 , Block 7001). As described above, in one aspect the rover 110includes justification in the direction of arrow 297, the telescopingarms of the rover are moved as a unit in the direction of arrow 297 tofurther align the telescoping arms 802A, 802B with the one or more firstpickfaces 210, e.g. fine positioning of the telescoping arms relative toa pickface holding location (FIG. 18 , Block 7001A). The payload bay 200is moved in the direction of arrow 298 to substantially align thepickface support surface 200S of the payload bay 200 with a supportsurface (or plane) 140SPL of the shelf 140 as illustrated in FIG. 13B(FIG. 18 , Block 7002). The telescopic arms 802A, 802B are extended andretracted in the direction of arrows 299A, 299B to transfer the one ormore first pickfaces 210 to the payload bay (FIG. 18 , Block 7003) inthe manner described above with respect to Blocks 5003-5007 of FIG. 15 .Once the one or more first pickfaces 210 are positioned within thepayload bed 200 the rover 110 traverses the picking structure and ispositioned relative to another pickface holding location (FIG. 18 ,Block 7000) for the transfer of one or more second pickfaces 210X (FIG.2C) to the payload bay 200. The one or more first pickfaces 210 withinthe payload bay are unclamped and the spacing between the telescopingarms 802A, 802B are adjusted (FIG. 18 , Block 7001) and/or justified(FIG. 18 , Block 7001A) so as to align the telescoping arms 801A, 802Bwith the one or more second pickfaces 210X in the other pickface holdinglocation. As may be realized, the one or more first pickfaces 210already held on the payload bed 200 are moved with the telescoping armsin the direction of arrow 297 as the telescoping arms are justified. Thepayload bay 200 is moved in the direction of arrow 298 to substantiallyalign the pickface support surface 200S of the payload bay 200 with asupport surface (or plane) 140SPL of the shelf 140 as illustrated inFIG. 13B (FIG. 18 , Block 7002). The telescopic arms 802A, 802B areextended and retracted in the direction of arrows 299A, 299B to transferthe one or more second pickfaces 210X to the payload bay (FIG. 18 ,Block 7003) in the manner described above with respect to Blocks5003-5007 of FIG. 15 . As may be realized, during the transfer of theone or more second pickfaces 210X into the payload bay 200 thetelescoping arms 802A, 802B may be spaced from the sides of the one ormore first pickfaces so that the pusher members 900T not contact the oneor more first pickfaces 210 in the payload bay 200 (and/or the pushermembers 900T are positioned so as to not contact the pickface in thepayload bay 200). When the one or more second pickfaces 210X are locatedwithin the payload bed 200 the pusher members 900T and/or fingers 900Fare used to snug the one or more first and second pickfaces together inthe direction of arrows 299A, 299B. The one or more first and secondpickfaces 210, 210X are transferred as a unit by the rover and placed ata pickface holding location as a unit (or at more than one pickfaceholding location separately) in a manner substantially opposite to thatdescribed above with respect to the transfer of the pickfaces 210, 210Xinto the payload bed.

In accordance with one or more aspects of the disclosed embodiment anautonomous transport vehicle is provided. The autonomous transportvehicle including a payload bed and an end effector disposed in thepayload bed and configured to extend along a first axis to transfer apickface to and from the payload bed, the end effector including atleast one transfer arm and fingers that extend from the at least onetransfer arm along a second axis substantially perpendicular to thefirst axis, the fingers being configured to support the pickface fromunderneath the pickface.

In accordance with one or more aspects of the disclosed embodiment theat least one transfer arm comprises two transfer arms configured tostraddle opposing sides of the pickface.

In accordance with one or more aspects of the disclosed embodiment theat least one transfer arm is a telescoping transfer arm.

In accordance with one or more aspects of the disclosed embodiment eachof the at least one transfer arm includes a belt drive configured toeffect extension and retraction of the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment thefingers are spaced apart by a predetermined pitch that corresponds to apitch between support surfaces of a pickface support shelf so that thefingers pass through spaces located between the support surfaces.

In accordance with one or more aspects of the disclosed embodiment theautonomous transport vehicle includes a drive section configured to movethe at least one transfer arm along a longitudinal axis of theautonomous transport vehicle.

In accordance with one or more aspects of the disclosed embodiment theautonomous transport vehicle includes a drive section configured to moveeach of the at least one transfer arm along a longitudinal axis of theautonomous transport vehicle independent of other ones of the at leastone transfer arm.

In accordance with one or more aspects of the disclosed embodiment theautonomous transport vehicle includes a drive section configured to movethe end effector in a direction substantially perpendicular to the firstaxis.

In accordance with one or more aspects of the disclosed embodiment thedrive section is configured to move the end effector in a directionsubstantially perpendicular to the first axis to allow the autonomoustransport vehicle to access multiple levels of stacked storage shelves.

In accordance with one or more aspects of the disclosed embodiment thefingers are fixedly mounted to the at least one transport arm.

In accordance with one or more aspects of the disclosed embodiment thefingers are movably mounted to the at least one transfer arm formovement between extended and retracted positions, where when in theextended position the fingers extend from the at least one transfer armalong the second axis.

In accordance with one or more aspects of the disclosed embodiment astorage and retrieval system is provided. The storage and retrievalsystem includes at least one autonomous transport vehicle including apayload bed and an end effector disposed in the payload bed andconfigured to extend along a first axis to transfer a pickface to andfrom the payload bed, at least one picking aisle configure to allowtravel of the at least one autonomous transport vehicle through thepicking aisle, and at least one storage shelf located adjacent the atleast one picking aisle, the at least one storage shelf having spacedapart pickface support surfaces that extend along a second axis wherethe second axis is substantially perpendicular to the first axis and theend effector includes fingers that extend along the second axis andbeing configured to allow interleaving of the fingers with the pickfacesupport surfaces.

In accordance with one or more aspects of the disclosed embodiment theend effector includes at least one transfer arm and the fingers extendfrom the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment theat least one transfer arm comprises two transfer arms configured tostraddle opposing sides of the pickface.

In accordance with one or more aspects of the disclosed embodiment theat least one autonomous transport vehicle includes a drive sectionconfigured to move the at least one transfer arm along a longitudinalaxis of the autonomous transport vehicle.

In accordance with one or more aspects of the disclosed embodiment theat least one autonomous transport vehicle includes a drive sectionconfigured to move each of the at least one transfer arm along alongitudinal axis of the autonomous transport vehicle independent ofother ones of the at least one transfer arm.

In accordance with one or more aspects of the disclosed embodiment theend effector is a telescoping end effector.

In accordance with one or more aspects of the disclosed embodiment theend effector includes at least one transfer arm and each of the at leastone transfer arm includes a belt drive configured to effect extensionand retraction of the end effector.

In accordance with one or more aspects of the disclosed embodiment thefingers are spaced apart by a predetermined pitch that corresponds to apitch between the pickface support surfaces so that the fingers passthrough spaces located between the support surfaces.

In accordance with one or more aspects of the disclosed embodiment theat least one autonomous transport vehicle includes a drive sectionconfigured to move the end effector in a direction substantiallyperpendicular to the first axis.

In accordance with one or more aspects of the disclosed embodiment thedrive section is configured to move the end effector in a directionsubstantially perpendicular to the first axis to allow the at least oneautonomous transport vehicle to access multiple levels of stackedstorage shelves.

In accordance with one or more aspects of the disclosed embodiment thefingers are fixedly mounted to the end effector.

In accordance with one or more aspects of the disclosed embodiment thefingers are movably mounted to the end effector for movement betweenextended and retracted positions, where when in the extended positionthe fingers extend from the end effector along the second axis.

In accordance with one or more aspects of the disclosed embodiment amethod for transferring pickfaces within a storage and retrieval systemis provided where the storage and retrieval system includes at leastautonomous transport vehicle, at least one picking aisle having apicking aisle deck configured to allow the at least one autonomoustransport vehicle to travel along the at least one picking aisle and atleast one storage shelf disposed adjacent the at least one pickingaisle. The method includes extending an end effector of the at least oneautonomous transport vehicle into the at least one storage shelf apredetermined distance so that arms of the end effector straddleopposing sides of a pickface, lowering the end effector so that fingersof the end effector are interleaved with and below pickface supportsurfaces of the at least storage shelf in a direction substantiallyperpendicular to an axis of extension of the end effector, positioningthe fingers beneath the pickface, and lifting the pickface from the atleast one storage shelf where the fingers support the weight of thepickface.

In accordance with one or more aspects of the disclosed embodimentpositioning the fingers beneath the pickface comprises moving one ormore arms of the end effector towards a respective side of the pickface.

In accordance with one or more aspects of the disclosed embodiment wherethe end effector includes arms and the method further includes adjustinga spacing between the arms so that the arms are contactlessly insertedinto shelf spaces disposed along the opposing sides of the pickface.

In accordance with one or more aspects the at least one storage shelfincludes stacked storage shelves and the method further includes raisingor lowering the end effector to a level of one of the stacked storageshelves.

In accordance with one or more aspects of the disclosed embodimentmultiple stacked storage shelves are accessible by the at least oneautonomous transport vehicle from a common picking aisle deck.

In accordance with one or more aspects of the disclosed embodiment anautonomous transport vehicle includes a frame forming a payload area;telescoping arms movably mounted to the frame, each telescoping armbeing configured for extension and retraction relative to the framealong an extension axis to effect transfer of at least one pickface toand from the payload area, and traversal, relative to the frame, in atleast one direction that is angled to the extension axis; and at leastone tab extending from each telescoping arm where the at least one tabextends in a direction transverse to the direction of extension andretraction, and the at least one tab on one of the telescoping armsopposes the at least one tab on another of the telescoping arms.

In accordance with one or more aspects of the disclosed embodiment theat least one direction is one or more of a vertical and horizontaldirection.

In accordance with one or more aspects of the disclosed embodiment theautonomous transport vehicle further includes a three degree of freedomdrive connected to the telescoping arms to effect the traversal of thetelescoping arms and the extension and retraction of the telescopingarms.

In accordance with one or more aspects of the disclosed embodiment adistance between telescoping arms is a variable distance such that eachtelescoping arm has a variable location of extension and retraction.

In accordance with one or more aspects of the disclosed embodiment eachtelescoping arm includes a free end and a rotatable finger mounted tothe free end, the rotatable finger being movable between a retractedposition so as not to contact the at least one pickface and a deployedposition so at to engage a vertical side of the at least one pickfaceand effect at least transfer of the at least one pickface into thepayload area.

In accordance with one or more aspects of the disclosed embodiment eachtelescoping arm includes a wireless control module to effect actuationof at least a respective finger.

In accordance with one or more aspects of the disclosed embodiment eachtelescoping arm includes a movable pusher member that opposes thefinger, the pusher member being configured to linearly move towards andaway from the finger to at least clamp and release the pickface betweenthe movable pusher member and finger.

In accordance with one or more aspects of the disclosed embodiment eachtelescoping arm includes a wireless control module to effect actuationof at least a movable pusher member.

In accordance with one or more aspects of the disclosed embodimenttraversal of each transfer arm is in a plane substantially parallel witha pickface support plane of the payload area to effect a full payloadarea justification of the at least one pickface independent of a size ofthe at least one pickface.

In accordance with one or more aspects of the disclosed embodiment eachtelescoping arm includes fingers that extend from the telescoping armalong a second axis substantially perpendicular to the extension axiswhere the fingers are configured to support the at least one pickfacefrom underneath the at least one pickface.

In accordance with one or more aspects of the disclosed embodiment thefingers are spaced apart by a predetermined pitch that corresponds to apitch between support surfaces of a pickface support shelf so that thefingers pass through spaces located between the support surfaces.

In accordance with one or more aspects of the disclosed embodiment thefingers are fixedly mounted to the at least one transport arm.

In accordance with one or more aspects of the disclosed embodiment thefingers are movably mounted to the at least one transfer arm formovement between extended and retracted positions, where when in theextended position the fingers extend from the at least one transfer armalong the second axis.

In accordance with one or more aspects of the disclosed embodiment theat least one tab engages a pickface through vertical movement of thetelescoping arms.

In accordance with one or more aspects of the disclosed embodiment astorage and retrieval system includes at least one autonomous transportvehicle including a frame forming a payload area, and telescoping armsmovably mounted to the frame, each telescoping arm being configured forextension and retraction relative to the frame along an extension axis,and traversal, relative to the frame, in at least one direction that isangled to the extension axis; at least one picking aisle configured toallow travel of the at least one autonomous transport vehicle throughthe picking aisle; and at least one storage shelf located adjacent theat least one picking aisle, where extension and retraction of thetelescoping arms to effects transfer of at least one pickface betweenthe at least one storage shelf and the payload area.

In accordance with one or more aspects of the disclosed embodiment theat least one storage shelf includes more than one stacked storage shelfaccessible from a common travel surface of the at least one pickingaisle.

In accordance with one or more aspects of the disclosed embodiment theat least one direction is one or more of a vertical and horizontaldirection.

In accordance with one or more aspects of the disclosed embodiment theat least one autonomous transport vehicle includes a three degree offreedom drive connected to the telescoping arms to effect the traversalof the telescoping arms and the extension and retraction of thetelescoping arms.

In accordance with one or more aspects of the disclosed embodiment adistance between telescoping arms is a variable distance such that eachtelescoping arm has a variable location of extension and retraction.

In accordance with one or more aspects of the disclosed embodiment eachtelescoping arm includes fingers that extend from the telescoping armalong a second axis substantially perpendicular to the extension axiswhere the fingers are configured to support the at least one pickfacefrom underneath the at least one pickface.

In accordance with one or more aspects of the disclosed embodiment amethod for transferring pickfaces within a storage and retrieval systemthat includes at least one autonomous transport vehicle, at least onepicking aisle having a picking aisle deck configured to allow the atleast one autonomous transport vehicle to travel along the at least onepicking aisle and at least one storage shelf disposed adjacent the atleast one picking aisle, the method includes positioning telescopingarms of the at least one autonomous transport vehicle along at least oneaxis relative to a frame of the at least one autonomous transportvehicle so that the telescoping arms are disposed at a positioncorresponding to a predetermined location of the at least one storageshelf; extending the telescoping arms along a another axis relative tothe frame so that the telescoping arms straddle opposing sides of apickface where the at least one axis is angled relative to the otheraxis; and transferring the pickface into a payload area of the at leastone autonomous transport vehicle through a retraction of the telescopingarms along the other axis.

In accordance with one or more aspects of the disclosed embodimenttransferring the pickface into the payload area includes pulling thepickface into the payload area with rotatable fingers mounted to thetelescoping arms;

In accordance with one or more aspects of the disclosed embodiment themethod further includes clamping the pickface against the fingers withmovable pusher members disposed on the telescoping arms.

In accordance with one or more aspects of the disclosed embodiment themethod further includes wirelessly effecting actuation of at least therotatable fingers.

In accordance with one or more aspects of the disclosed embodimentpositioning the telescoping arms includes positioning the telescopingarms along two axes, where the two axes are substantially orthogonal toone another.

In accordance with one or more aspects of the disclosed embodiment anautonomous transport vehicle includes a frame forming a payload area;telescoping arms movably mounted to the frame, each telescoping armbeing configured for extension and retraction relative to the framealong an extension axis to effect transfer of at least one pickface toand from the payload area, and traversal, relative to the frame, in atleast one direction that is angled to the extension axis; and at leastone tab extending from each telescoping arm, the at least one tab beingmounted to a respective telescoping arm so as to be movable in adirection of extension and retraction of the telescoping arms to effectjustification of the at least one pickface in the direction of extensionand retraction independent of extension and retraction of thetelescoping arms.

In accordance with one or more aspects of the disclosed embodiment theat least one tab extends in a direction transverse to the direction ofextension and retraction, and the at least one tab on one of thetelescoping arms opposes the at least one tab on another of thetelescoping arms.

It should be understood that the foregoing description is onlyillustrative of the aspects of the disclosed embodiment. Variousalternatives and modifications can be devised by those skilled in theart without departing from the aspects of the disclosed embodiment.Accordingly, the aspects of the disclosed embodiment are intended toembrace all such alternatives, modifications and variances that fallwithin the scope of the appended claims. Further, the mere fact thatdifferent features are recited in mutually different dependent orindependent claims does not indicate that a combination of thesefeatures cannot be advantageously used, such a combination remainingwithin the scope of the aspects of the invention.

What is claimed is:
 1. An autonomous guided autonomous transport vehiclecomprising: a frame forming a payload area having a payload bay with apickface support plane; at least one upright mast member mounted uprightto the frame, where the at least one upright mast member is mounted toand forms, with the payload bay, the payload area of the frame; andextension arms movably mounted to the at least one upright mast memberfor movement in at least a vertical direction, each extension arm beingconfigured for extension and retraction relative to the frame along anextension axis to effect transfer of at least one pickface to and fromthe payload area, and wherein the payload area has a payloadjustification traverse member movable relative to the payload area ofthe frame, in at least one direction that crosses the extension axis. 2.The autonomous guided autonomous transport vehicle of claim 1, whereinthe at least one direction is one or more of the vertical direction anda horizontal direction.
 3. The autonomous guided autonomous transportvehicle of claim 1, further comprising a three degree of freedom driveconnected to the extension arms to effect the traversal of the payloadjustification traverse member and the extension and retraction of theextension arms.
 4. The autonomous guided autonomous transport vehicle ofclaim 1, wherein a distance between the payload justification traversemember and at least one extension arm is a variable distance such thatthe payload justification traverse member has a variable locationrelative to extension and retraction of the at least one extension arm.5. The autonomous guided autonomous transport vehicle of claim 1,wherein traversal of the payload justification traverse member is in aplane substantially parallel with a pickface support plane of thepayload area to effect a full payload area justification of the at leastone pickface independent of a size of the at least one pickface.
 6. Theautonomous guided autonomous transport vehicle of claim 1, wherein theupright mast member is arranged so that the extension arms are raisedand lowered, along a lift axis, relative to the payload area of theframe.
 7. The autonomous guided autonomous transport vehicle of claim 6,wherein the upright mast member is arranged so that the extension axisof the extension arms is raised and lowered along the lift axis relativeto the payload area of the frame.
 8. The autonomous guided autonomoustransport vehicle of claim 7, wherein the extension axis is raised andlowered along the lift axis so that extension and retraction of theextension arms is within store shelves above a pickface support plane ofthe payload area.
 9. The autonomous guided autonomous transport vehicleof claim 8, wherein the store shelves are stacked above the pickfacesupport plane.
 10. A storage and retrieval system comprising: at leastone autonomous guided autonomous transport vehicle including a frameforming a payload area having a payload bay with a pickface supportplane, at least one upright mast member mounted upright to the frame,where the at least one upright mast member is mounted to and forms withthe payload bay, the payload area of the frame, and extension armsmovably mounted to the at least one upright mast member for movement inat least a vertical direction, each extension arm being configured forextension and retraction relative to the frame along an extension axis,and wherein the payload area has a payload justification traverse membermovable relative to the payload area of the frame, in at least onedirection that crosses the extension axis; at least one picking aisleconfigured to allow travel of the at least one autonomous guidedautonomous transport vehicle through the at least one picking aisle; andat least one storage shelf located adjacent the at least one pickingaisle, where extension and retraction of the extension arms effectstransfer of at least one pickface between the at least one storage shelfand the payload area.
 11. The storage and retrieval system of claim 10,wherein the at least one storage shelf includes more than one stackedstorage shelf accessible from a common travel surface of the at leastone picking aisle.
 12. The storage and retrieval system of claim 10,wherein the at least one direction is one or more of the verticaldirection and a horizontal direction.
 13. The storage and retrievalsystem of claim 10, wherein the at least one autonomous guidedautonomous transport vehicle includes a three degree of freedom driveconnected to the extension arms to effect the traversal of the payloadjustification traverse member and the extension and retraction of theextension arms.
 14. The storage and retrieval system of claim 10,wherein a distance between the payload justification traverse member andat least one extension arm is a variable distance such that the payloadjustification traverse member has a variable location relative toextension and retraction of the at least one extension arm.
 15. Thestorage and retrieval system of claim 10, wherein the upright mastmember is arranged so that the extension arms are raised and lowered,along a lift axis, relative to the payload area of the frame.
 16. Thestorage and retrieval system of claim 15, wherein the upright mastmember is arranged so that the extension axis of the extension arms israised and lowered along the lift axis relative to the payload area ofthe frame.
 17. The storage and retrieval system of claim 16, wherein theextension axis is raised and lowered along the lift axis so thatextension and retraction of the extension arms is within store shelvesabove a pickface support plane of the payload area.
 18. The storage andretrieval system of claim 17, wherein the store shelves are stackedabove the pickface support plane.
 19. A method for transferringpickfaces within a storage and retrieval system that includes at leastone autonomous guided autonomous transport vehicle, at least one pickingaisle having a picking aisle deck configured to allow the at least oneautonomous guided autonomous transport vehicle to travel along the atleast one picking aisle and at least one storage shelf disposed adjacentthe at least one picking aisle, the method comprising: positioningextension arms of the at least one autonomous guided autonomoustransport vehicle along at least one axis relative to a payload area ofthe frame of the at least one autonomous guided autonomous transportvehicle so that the extension arms are disposed at a positioncorresponding to a predetermined location of the at least one storageshelf, where the extension arms are positioned vertically along at leastone upright mast member that is mounted upright to and forms, with apayload bay of the frame, a payload area of the frame; extending theextension arms so that the extension arms straddle opposing sides of apickface; transferring the pickface into the payload area of the atleast one autonomous guided autonomous transport vehicle through aretraction of the extension; and moving a payload justification traversemember of the payload area along another axis relative to the payloadarea of the frame in at least one direction that axis crosses the otheraxis.
 20. The method of claim 19, wherein the upright mast member isarranged so that the extension arms are raised and lowered, along a liftaxis, relative to the payload area of the frame.
 21. The method of claim20, wherein the upright mast member is arranged so that an extensionaxis of the extension arms is raised and lowered along the lift axisrelative to the payload area of the frame.
 22. The method of claim 21,wherein the extension axis is raised and lowered along the lift axis sothat extending and retracting the extension arms is within store shelvesabove a pickface support plane of the payload area.
 23. The method ofclaim 22, wherein the store shelves are stacked above the pickfacesupport plane.
 24. An autonomous guided autonomous transport vehiclecomprising: a frame forming a payload area having a payload bay with apickface support plane; at least one upright mast member mounted uprightto the frame, where the at least one upright mast member is mounted toand forms, with the payload bay, the payload area of the frame;extension arms movably mounted to the at least one upright mast memberfor movement in at least a vertical direction, each extension arm beingconfigured for extension and retraction relative to the frame along anextension axis to effect transfer of at least one pickface to and fromthe payload area, and wherein the payload area has a payloadjustification traverse member movable relative to the frame, in at leastone direction that crosses the extension axis; and wherein the payloadjustification traverse member effects justification of the at least onepickface in the direction that crosses the extension axis independent ofextension and retraction of the extension arms.
 25. The autonomousguided autonomous transport vehicle of claim 24, wherein the uprightmast member is arranged so that the extension arms are raised andlowered, along a lift axis, relative to the payload area of the frame.26. The autonomous guided autonomous transport vehicle of claim 25,wherein the upright mast member is arranged so that the extension axisof the extension arms is raised and lowered along the lift axis relativeto the payload area of the frame.
 27. The autonomous guided autonomoustransport vehicle of claim 26, wherein the extension axis is raised andlowered along the lift axis so that extension and retraction of theextension arms is within store shelves above a pickface support plane ofthe payload area.
 28. The autonomous guided autonomous transport vehicleof claim 27, wherein the store shelves are stacked above the pickfacesupport plane.